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Merge pull request #561 from tensafefrogs/next

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Fix missing curly braces and adjust some formatting.
This commit is contained in:
Bertrand Songis
2014-01-19 13:09:19 -08:00
parent 987b5eeecb 261cdd4cca
commit 43059f3539
1 changed files with 52 additions and 53 deletions
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radio/src/telemetry/mavlink.cpp
+52 -53
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@@ -113,7 +113,7 @@ void MAVLINK_reset(uint8_t warm_reset) {
memset(&telemetry_data, 0, sizeof(telemetry_data));
telemetry_data.rcv_control_mode = ERROR_NUM_MODES;
telemetry_data.req_mode = ERROR_NUM_MODES;
telemetry_data.type = MAV_TYPE_ENUM_END;
telemetry_data.autopilot = MAV_AUTOPILOT_ENUM_END;
telemetry_data.type_autopilot = MAVLINK_INVALID_TYPE;
@@ -139,7 +139,7 @@ void MAVLINK_Init(void) {
* characters are used. To get the full message you can use the commented
* funtion below.
*/
static inline void REC_MAVLINK_MSG_ID_STATUSTEXT(const mavlink_message_t* msg) {
_MAV_RETURN_char_array(msg, mav_statustext, LEN_STATUSTEXT, 1);
}
@@ -152,7 +152,7 @@ static inline void REC_MAVLINK_MSG_ID_STATUSTEXT(const mavlink_message_t* msg) {
* \todo Add battery remaining variable in telemetry_data struct for estimated
* remaining battery. Decoding funtion allready in place.
*/
static inline void REC_MAVLINK_MSG_ID_SYS_STATUS(const mavlink_message_t* msg) {
telemetry_data.vbat = mavlink_msg_sys_status_get_voltage_battery(msg) / 100; // Voltage * 10
telemetry_data.ibat = mavlink_msg_sys_status_get_current_battery(msg) / 10;
@@ -204,48 +204,48 @@ static inline void REC_MAVLINK_MSG_ID_VFR_HUD(const mavlink_message_t* msg) {
/*! \brief Heartbeat message
* \details Heartbeat message is used for the following information:
* type and autopilot is used to determain if the UAV is a ArduPlane or Arducopter
* type and autopilot is used to determine if the UAV is an ArduPlane or Arducopter
*/
static inline void REC_MAVLINK_MSG_ID_HEARTBEAT(const mavlink_message_t* msg) {
static inline void REC_MAVLINK_MSG_ID_HEARTBEAT(const mavlink_message_t* msg) {
telemetry_data.mode = mavlink_msg_heartbeat_get_base_mode(msg);
telemetry_data.custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
telemetry_data.custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
telemetry_data.status = mavlink_msg_heartbeat_get_system_status(msg);
telemetry_data.mav_sysid = msg->sysid;
telemetry_data.mav_compid = msg->compid;
uint8_t type = mavlink_msg_heartbeat_get_type(msg);
uint8_t autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
if ((type != telemetry_data.type) || (autopilot != telemetry_data.autopilot))
{
if (type != telemetry_data.type || autopilot != telemetry_data.autopilot) {
telemetry_data.type = mavlink_msg_heartbeat_get_type(msg);
telemetry_data.autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA)
{
if ((type == MAV_TYPE_QUADROTOR) ||
(type == MAV_TYPE_COAXIAL) ||
(type == MAV_TYPE_HELICOPTER) ||
(type == MAV_TYPE_HEXAROTOR) ||
(type == MAV_TYPE_OCTOROTOR) ||
(type == MAV_TYPE_TRICOPTER))
{
telemetry_data.type_autopilot = MAVLINK_ARDUCOPTER;
}
else if (type == MAV_TYPE_FIXED_WING)
{
telemetry_data.type_autopilot = MAVLINK_ARDUPLANE;
}
else
if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) {
if (type == MAV_TYPE_QUADROTOR ||
type == MAV_TYPE_COAXIAL ||
type == MAV_TYPE_HELICOPTER ||
type == MAV_TYPE_HEXAROTOR ||
type == MAV_TYPE_OCTOROTOR ||
type == MAV_TYPE_TRICOPTER) {
telemetry_data.type_autopilot = MAVLINK_ARDUCOPTER;
}
else if (type == MAV_TYPE_FIXED_WING) {
telemetry_data.type_autopilot = MAVLINK_ARDUPLANE;
}
else {
telemetry_data.type_autopilot = MAVLINK_INVALID_TYPE;
}
}
else
else {
telemetry_data.type_autopilot = MAVLINK_INVALID_TYPE;
}
}
telemetry_data.active = (telemetry_data.mode & MAV_MODE_FLAG_SAFETY_ARMED) ? true : false;
telemetry_data.active = (telemetry_data.mode & MAV_MODE_FLAG_SAFETY_ARMED) ? true : false;
mav_heartbeat = 3; // 450ms display '*'
mav_heartbeat_recv = 1;
}
static inline void REC_MAVLINK_MSG_ID_HIL_CONTROLS(const mavlink_message_t* msg) {
telemetry_data.nav_mode = mavlink_msg_hil_controls_get_mode(msg);
}
/*! \brief Process GPS raw intger message
* \details This message contains the following data:
* - fix type: 0-1: no fix, 2: 2D fix, 3: 3D fix.
@@ -257,7 +257,7 @@ static inline void REC_MAVLINK_MSG_ID_HIL_CONTROLS(const mavlink_message_t* msg)
*/
static inline void REC_MAVLINK_MSG_ID_GPS_RAW_INT(const mavlink_message_t* msg) {
telemetry_data.fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
telemetry_data.loc_current.lat = mavlink_msg_gps_raw_int_get_lat(msg) / 1E7;
telemetry_data.loc_current.lat = mavlink_msg_gps_raw_int_get_lat(msg) / 1E7;
telemetry_data.loc_current.lon = mavlink_msg_gps_raw_int_get_lon(msg) / 1E7;
telemetry_data.loc_current.gps_alt = mavlink_msg_gps_raw_int_get_alt(msg) / 1E3;
telemetry_data.eph = mavlink_msg_gps_raw_int_get_eph(msg) / 100.0;
@@ -266,26 +266,25 @@ static inline void REC_MAVLINK_MSG_ID_GPS_RAW_INT(const mavlink_message_t* msg)
telemetry_data.satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
}
#ifdef MAVLINK_PARAMS
const pm_char * getParamId(uint8_t idx) {
const pm_char *mav_params_id [((NB_PID_PARAMS / 2) + 4)] = { //
//
PSTR("RATE_YAW"), // Rate Yaw
PSTR("STB_YAW"), // Stabilize Yaw
PSTR("RATE_PIT"), // Rate Pitch
PSTR("STB_PIT"), // Stabilize Pitch
PSTR("RATE_RLL"), // Rate Roll
PSTR("STB_RLL"), // Stabilize Roll
PSTR("THR_ALT"), // PSTR("THR_BAR"), // Altitude Hold
PSTR("HLD_LON"), // Loiter
PSTR("HLD_LAT"), // Loiter
PSTR("NAV_LON"), // Nav WP
PSTR("NAV_LAT"), // Nav WP
PSTR("LOW_VOLT"), // Battery low voltage
PSTR("VOLT_DIVIDER"), //
PSTR("BATT_MONITOR"), //
PSTR("BATT_CAPACITY") };
const pm_char *getParamId(uint8_t idx) {
const pm_char *mav_params_id [((NB_PID_PARAMS / 2) + 4)] = {
PSTR("RATE_YAW"), // Rate Yaw
PSTR("STB_YAW"), // Stabilize Yaw
PSTR("RATE_PIT"), // Rate Pitch
PSTR("STB_PIT"), // Stabilize Pitch
PSTR("RATE_RLL"), // Rate Roll
PSTR("STB_RLL"), // Stabilize Roll
PSTR("THR_ALT"), // PSTR("THR_BAR"), // Altitude Hold
PSTR("HLD_LON"), // Loiter
PSTR("HLD_LAT"), // Loiter
PSTR("NAV_LON"), // Nav WP
PSTR("NAV_LAT"), // Nav WP
PSTR("LOW_VOLT"), // Battery low voltage
PSTR("VOLT_DIVIDER"), //
PSTR("BATT_MONITOR"), //
PSTR("BATT_CAPACITY")
};
uint8_t i;
if (idx < NB_PID_PARAMS) {
i = idx / 2;
@@ -433,7 +432,7 @@ static inline void handleMessage(mavlink_message_t* p_rxmsg) {
break;
case MAVLINK_MSG_ID_VFR_HUD:
REC_MAVLINK_MSG_ID_VFR_HUD(p_rxmsg);
break;
break;
case MAVLINK_MSG_ID_HIL_CONTROLS:
REC_MAVLINK_MSG_ID_HIL_CONTROLS(p_rxmsg);
break;
@@ -453,8 +452,8 @@ static inline void handleMessage(mavlink_message_t* p_rxmsg) {
/*! \brief Mavlink message parser
* \details Parses the characters in to a mavlink message.
* Case statement parses each character as it is recieved.
* \attention One big change form the 0.9 to 1.0 version is the
* Case statement parses each character as it is recieved.
* \attention One big change form the 0.9 to 1.0 version is the
* MAVLINK_CRC_EXTRA. This requires the mavlink_message_crcs array of 256 bytes.
* \todo create dot for the statemachine
*/
@@ -464,9 +463,9 @@ static void MAVLINK_parse_char(uint8_t c) {
//! The currently decoded message
static mavlink_message_t* p_rxmsg = &m_mavlink_message;
//! The current decode status
mavlink_status_t* p_status = mavlink_get_channel_status(MAVLINK_COMM_0);
mavlink_status_t* p_status = mavlink_get_channel_status(MAVLINK_COMM_0);
#if MAVLINK_CRC_EXTRA
static const uint8_t mavlink_message_crcs[256] PROGMEM = MAVLINK_MESSAGE_CRCS;
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
@@ -715,7 +714,7 @@ static inline void MAVLINK_msg_set_mode_send(uint8_t mode) {
#endif
/*! \brief Telemetry monitoring, calls \link MAVLINK10mspoll.
* \todo Reimplemnt \link MAVLINK10mspoll
*
*
*/
void telemetryWakeup() {
uint16_t tmr10ms = get_tmr10ms();